How do I reset the /odom topic back to 0 without restarting the robot?

asked 2015-07-07 09:28:57 -0600

shahvineet98
21 ●2 ●3 ●5

updated 2015-07-10 07:17:13 -0600

I am using this callback function because I want to tell the robot to move a specified angle. I was wondering if there is a way to restart the /odom topic back to 0 for simplicity purposes. Your help is really appreciated!

I am using ROS Indigo and I have a create turtlebot base

def odometry_cb(self, data):
        pose = data.pose.pose
        quaternion = (pose.orientation.x, pose.orientation.y, pose.orientation.z, pose.orientation.w)
        euler = tf.transformations.euler_from_quaternion(quaternion)
        roll = euler[0]
        pitch = euler[1]
        yaw = euler[2] 
        yaw_angle = (yaw*(180/math.pi))
        self._last_yaw_angle = yaw_angle
        print(self._last_yaw_angle)

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It would be useful if you name the robot you use and which package.

BennyRe ( 2015-07-10 03:32:11 -0600 )edit

I am sorry for not clarifying earlier but I updated that in my question

shahvineet98 ( 2015-07-10 07:17:45 -0600 )edit

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answered 2015-07-14 22:08:25 -0600

vinjk
96 ●2 ●4 ●8

This is how odometry is reset for Kobuki:

void KobukiRos::subscribeResetOdometry(const std_msgs::EmptyConstPtr /* msg */)
{
  ROS_INFO_STREAM("Kobuki : Resetting the odometry. [" << name << "].");
  joint_states.position[0] = 0.0; // wheel_left
  joint_states.velocity[0] = 0.0;
  joint_states.position[1] = 0.0; // wheel_right
  joint_states.velocity[1] = 0.0;
  odometry.resetOdometry();
  kobuki.resetOdometry();
  return;
}

Hope this helps.

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1

answered 2015-07-10 10:00:13 -0600

cyborg-x1

1376 ●21 ●32 ●44 https://github.com/Hacks4ROS

updated 2015-07-10 10:01:25 -0600

As far I can see there is no such service for the create node.

I guess you would have to add a service for that yourself in

https://github.com/turtlebot/turtlebo...

Maybe the _robot_reboot(self): function does what you want but you will have to add a service to call it externally.

Regards,

Christian

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answered 2015-07-10 01:51:03 -0600

mgruhler

12390 ●32 ●193 ●173 https://github.com/mgruhler

If you do have a Kobuki base, you can use the ~commands/reset_odometry topic of type std_msgs/Empty for this, as described here

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This is exactly what I am looking for but is it possible on a create base?

shahvineet98 ( 2015-07-10 07:18:09 -0600 )edit

1

I think if you search in the source code where this topic is defined and how its callback function looks like, you can copy it for the create.

Mehdi. ( 2015-07-10 10:10:37 -0600 )edit

Hello, I just creat a publisher topic to publish the ~commands/reset_odometry , but I find the turtlebot doesn't change it's pose ,do you know the reason?